inertia_properties.impl.h

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template <typename TRAIT>
iit::ct_InvertedPendulum::dyn::tpl::InertiaProperties<TRAIT>::InertiaProperties()
{
    com_Link1 = iit::rbd::Vector3d(0.293,0.0,0.0).cast<Scalar>();
    tensor_Link1.fill(
        Scalar(1.811),
        com_Link1,
        rbd::Utils::buildInertiaTensor(
                Scalar(4.7E-4),
                Scalar(0.15594256),
                Scalar(0.16452757),
                Scalar(0.0),
                Scalar(0.0),
                Scalar(0.0)) );

}